Systems and Methods for the Automated Delivery of Photobiomodulation Therapy to a Patient

ABSTRACT

Systems and methods for treating neuropathic pain by using a photobiomodulation device in a handheld manner. A robotic arm is attached to a light emitting device and controlled, using a visual display, to automatically position the light emitting device over areas to be treated on the patient&#39;s body. The automated light delivery process allows a patient to treat large portions of her body in a handsfree manner.

CROSS-REFERENCE

The present application is a continuation application of U.S. patentapplication Ser. No. 16/586,250, entitled “Systems and Methods for theAutomated Delivery of Photobiomodulation Therapy to a Patient” and filedon Sep. 27, 2019, which is a continuation application of U.S. patentapplication Ser. No. 16/248,692, entitled “Systems and Methods forProviding Cold Laser Therapy to a Patient in a Hands-Free Manner”, filedon Jan. 15, 2019, and issued as U.S. Pat. No. 10,463,874 on Nov. 5,2019. The above referenced applications are all hereby incorporated byreference into this application in their entirety.

FIELD OF THE INVENTION

The present application relates generally to holder and positioningdevices to enable an effective delivery of cold laser therapy and, morespecifically, to devices capable of being secured to a patient's skinand of removably receiving, and holding in place, a cold laser wand sothat a patient may use the device in a hands-free manner.

BACKGROUND

Cold laser devices are low-intensity laser systems, typically comprisinga hand-held wand and a generator either separate or integrated into asingle housing, that generate low levels of light. Exposing a patient'sskin to low levels of light achieves numerous health benefits. Duringthis conventional procedure, the handheld wand of a cold laser device ispositioned proximate the patient's skin and different wavelengths andoutputs of low-level light are applied directly to a targeted area. Whenthe patient's tissue absorbs the light, red and near-infrared lightcause a reaction, damaged cells respond with a physiological reactionthat promotes regeneration, and healing occurs. Skin tissue is commonlytreated with wavelengths between 600 and 700 nanometers (nm) and, fordeeper penetration, with wavelengths between 780 and 950 nm. Thesedevices are also referred to as low-level laser therapy, low-power lasertherapy, soft laser biostimulation, and photobiomodulation, collectivelyreferred to as cold laser therapy devices.

While potentially therapeutically effective, existing cold laser systemswith handheld wands require a therapist or patient to hold the device ata particular range from the area of skin requiring treatment for manyminutes at a time. For example, the handheld wand may be required to beheld just above a treatment site for anywhere from 15 seconds to 1 hour.Therapists and patients find it difficult to hold the device in placefor such long periods of time. This problem is particularly exacerbatedin patients with severe pain or chronic neuropathy, in situations wherethe device needs to be proximate to the skin, but not touching the skindue to pain, and in situations where the patient is attempting toself-treat but the location of the pain is difficult to reach.

It is therefore desirable to have a system for transforming aconventionally handheld treatment method into a hands-free treatmentmethod. It is further desirable to have a way of securing a cold laserwand to any portion of the patient's body, thereby enabling hands-freetreatment in difficult to reach locations. It is further desirable tohave a securing system that can accommodate different size wands toenable a clinician to use different therapeutic modalities. It is alsodesirable to have a securing system that can adjust the distance of thewand head from the patient's skin to allow for a range of differentexposure distances and to better capture and direct light from a deviceto the patient's skin. Additionally, because many chronic neuropathypatients suffer from sensitivity to touch (allodynia), it would bebeneficial to have a system that would alter the distance of the devicefrom the patient's skin while not unduly exposing the patient's skin toabrasive or undesirable materials.

SUMMARY OF THE INVENTION

The present specification discloses a method of treating peripheralneuropathic pain using a handheld cold laser device comprising:acquiring the handheld cold laser device, wherein the handheld coldlaser device comprises a light emission surface and a body attached to,but separate from, the light emission surface; attaching a patientattachment surface to a portion of a patient's body, wherein the patientattachment surface comprises a light emission surface receiver;attaching the light emission surface to the light emission surfacereceiver, wherein the light emission surface receiver comprises a hollowcavity enclosed by a first wall, wherein the first wall has a periphery,and wherein an external surface of the light emission surface ispositioned inside the periphery; adjusting a position of a supportmember having a first end and a second end, wherein the first end of thesupport member is attached to at least one of the light emission surfacereceiver or the patient attachment surface, wherein the second end ofthe support member is in physical contact with the body of the handheldcold laser device, and wherein the second end of the support member isadjusted such that the light emission surface is maintained in aposition parallel to the patient's skin in a hands-free manner; andactivating the handheld cold laser device to transmit light from thelight emission surface through the light emission surface receiver andto the patient's body.

Optionally, the method further comprises adjusting the periphery of thelight emission surface receiver to achieve a friction fit with theexternal surface of the light emission surface.

Optionally, adjusting the position of the support member comprisesrotating the support member, wherein the support member is hinged at oneend to at least one of the light emission surface receiver or thepatient attachment surface. Optionally, the support member comprises acurved portion at a second end to receive the body of the cold laserdevice.

Optionally, an internal surface of the first wall comprises a reflectivematerial wherein the reflective material is positioned to cause lightemitted from the light emission surface and impinging on the internalsurface of the first wall to be directed toward the patient's skin.Optionally, at least 20% of the internal surface of the first wallcomprises the reflective material. Optionally, at least 50% of theinternal surface of the first wall comprises the reflective material.Optionally, at least 70% of the internal surface of the first wallcomprises the reflective material.

Optionally, the wall of the light emission surface receiver has aplurality of holes to release heat generated from light emitted by thelight emission surface.

Optionally, the wall of the light emission surface is porous.

Optionally, the wall of the light emission surface receiver isvertically adjustable to thereby modify a distance between the lightemission surface and the patient's skin.

Optionally, the light emission surface receiver is detachable from thepatient attachment surface.

Optionally, the light emission surface receiver is attached to thepatient attachment surface using at least one of a friction fit, Velcro,snaps, a sewed connection, or glue.

Optionally, the support member comprises a height adjustment mechanismand adjusting the position of the support member comprises modifying theheight adjustment mechanism.

Optionally, the support member comprises a telescopic height adjustmentmechanism and adjusting the position of the support member comprisesturning a dial to cause one portion of the support member to moverelative to a second portion of the support member.

Optionally, the light emission surface receiver comprises a second wallthat encloses the first wall, wherein an interior surface of the secondwall is attached to an exterior surface of the first wall through amember and wherein the second wall is configured to permit heat to flowaway from the patient's body. Optionally, the first wall has a firstlength and the second wall has a second length, wherein the first lengthis less than the second length, and wherein the second wall comprises aplurality of openings.

Optionally, the method further comprises deactivating the handheld coldlaser device to turn off light from the light emission surface after aperiod of time, wherein the period of time is sufficient to at leastpartially treat the peripheral neuropathic pain.

Optionally, the light emission surface has a first geometric shape andthe light emission receiver has a second geometric shape, wherein thesecond geometric shape is similar to the first geometric shape but of adifferent size. Optionally, the first geometric shape is at least one ofrectangular, circular, oval, trapezoidal, triangular, polygonal, orconical.

The aforementioned and other embodiments of the present specificationshall be described in greater depth in the drawings and detaileddescription provided below.

BRIEF DESCRIPTION OF THE DRAWINGS

These and other features and advantages of the present specificationwill be further appreciated, as they become better understood byreference to the following detailed description when considered inconnection with the accompanying drawings:

FIG. 1 illustrates an exemplary handheld wand and attachment system inaccordance with some embodiments of the present specification;

FIG. 2A illustrates a first embodiment of a wand with light emissionsurfaces of a first shape and a first size, in accordance with thepresent specification;

FIG. 2B illustrates a second embodiment of a wand with light emissionsurfaces of a second shape and a second size, in accordance with thepresent specification;

FIG. 2C illustrates a third embodiment of a wand with light emissionsurfaces of a third shape and a third size, in accordance with thepresent specification;

FIG. 2D illustrates a fourth embodiment of a wand with light emissionsurfaces of a fourth shape and a fourth size, in accordance with thepresent specification;

FIG. 2E illustrates a fifth embodiment of a wand with light emissionsurfaces of a fifth shape and a fifth size, in accordance with thepresent specification;

FIG. 2F illustrates a sixth embodiment of a wand with light emissionsurfaces of a sixth shape and a sixth size, in accordance with thepresent specification;

FIG. 2G illustrates a seventh embodiment of a wand with light emissionsurfaces of a seventh shape and a seventh size, in accordance with thepresent specification;

FIG. 2H illustrates an eighth embodiment of a wand with light emissionsurfaces of an eighth shape and an eighth size, in accordance with thepresent specification;

FIG. 2I illustrates a ninth embodiment of a wand with light emissionsurfaces of a ninth shape and a ninth size, in accordance with thepresent specification;

FIG. 2J illustrates a tenth embodiment of a wand with light emissionsurfaces of a tenth shape and a tenth size, in accordance with thepresent specification;

FIG. 3A illustrates a top view of a first embodiment of a light emissionreceiver, incorporated into a patient attachment system, of a firstshape and first size that corresponds to the embodiment illustrated inFIG. 2A;

FIG. 3B illustrates a top view of a second embodiment of a lightemission receiver, incorporated into a patient attachment system, of asecond shape and second size that corresponds to the embodimentillustrated in FIG. 2B;

FIG. 3C illustrates a top view of a third embodiment of a light emissionreceiver, incorporated into a patient attachment system, of a thirdshape and third size that corresponds to the embodiment illustrated inFIG. 2C;

FIG. 3D illustrates a top view of a fourth embodiment of a lightemission receiver, incorporated into a patient attachment system, of afourth shape and fourth size that corresponds to the embodimentillustrated in FIG. 2D;

FIG. 3E illustrates a top view of a fifth embodiment of a light emissionreceiver, incorporated into a patient attachment system, of a fifthshape and fifth size that corresponds to the embodiment illustrated inFIG. 2E;

FIG. 3F illustrates a top view of a sixth embodiment of a light emissionreceiver, incorporated into a patient attachment system, of a sixthshape and sixth size that corresponds to the embodiment illustrated inFIG. 2F;

FIG. 3G illustrates a top view of a seventh embodiment of a lightemission receiver, incorporated into a patient attachment system, of aseventh shape and seventh size that corresponds to the embodimentillustrated in FIG. 2G;

FIG. 3H illustrates a top view of an eighth embodiment of a lightemission receiver, incorporated into a patient attachment system, of aneighth shape and eighth size that corresponds to the embodimentillustrated in FIG. 2H;

FIG. 3I illustrates a top view of a ninth embodiment of a light emissionreceiver, incorporated into a patient attachment system, of a ninthshape and ninth size that corresponds to the embodiment illustrated inFIG. 2I;

FIG. 3J illustrates a top view of a tenth embodiment of a light emissionreceiver, incorporated into a patient attachment system, of a tenthshape and tenth size that corresponds to the embodiment illustrated inFIG. 2J;

FIG. 4A illustrates a front view of a wall of a light emission surfacereceiver configured with spaces, voids, pores, or openings that arespread evenly on the surface of light emission surface receiver, inaccordance with some embodiments of the present specification;

FIG. 4B illustrates a front view of a wall of a light emission surfacereceiver configured with spaces, voids, pores, or openings that arespread evenly on the surface of light emission surface receiver and aninner wall, in accordance with some embodiments of the presentspecification;

FIG. 4C illustrates a top view of an inner wall of a light emissionsurface receiver, in accordance with some embodiments of the presentspecification;

FIG. 4D illustrates a see-through front view of a wall of a lightemission surface receiver configured with spaces, voids, pores, oropenings that are spread evenly on the surface of light emission surfacereceiver and an inner wall, in accordance with some embodiments of thepresent specification;

FIG. 5 illustrates a telescopic light emission surface that may receiveand position a handheld wand at different distances from the patient'sskin, in accordance with some embodiments of the present specification;

FIG. 6A illustrates a support structure configured to position a body ofa wand above a patient's skin surface, in accordance with an embodimentof the present specification;

FIG. 6B illustrates a support structure configured to position a body ofa wand above a patient's skin surface, in accordance with anotherembodiment of the present specification;

FIG. 7 is a flow chart to illustrate an exemplary process of using asystem in accordance with the various embodiments of the presentspecification;

FIG. 8 is an embodiment of the patient attachment device in accordancewith an embodiment of the present invention;

FIG. 9 is an embodiment of a system enabling a programmed application oftherapy to a plurality of anatomical locations in an automated,hands-free manner;

FIG. 10 illustrates an exemplary visual display that is in datacommunication with the controller of FIG. 9; and

FIG. 11 is a flow chart to illustrate an exemplary process ofcalibrating and using the system of FIG. 9.

DETAILED DESCRIPTION

The present invention may be used to treat, in a substantiallyhands-free manner, numerous conditions, including ligament sprains,muscle strains, tendonitis, bursitis, neck pain, back pain, knee pain,muscle spasms, inflammation, swelling, ulcerations, rheumatoidarthritis, autoimmune diseases, peripheral neuropathy, fibromyalgia,carpal tunnel syndrome, acne, psoriasis, burns, vitiligo, edema,dermatitis, rashes, wounds related to diabetes, and diabetic neuropathy.

The present specification is directed towards multiple embodiments. Thefollowing disclosure is provided in order to enable a person havingordinary skill in the art to practice the invention. Language used inthis specification should not be interpreted as a general disavowal ofany one specific embodiment or used to limit the claims beyond themeaning of the terms used therein. The general principles defined hereinmay be applied to other embodiments and applications without departingfrom the spirit and scope of the invention. Also, the terminology andphraseology used is for the purpose of describing exemplary embodimentsand should not be considered limiting. Thus, the present invention is tobe accorded the widest scope encompassing numerous alternatives,modifications and equivalents consistent with the principles andfeatures disclosed. For purpose of clarity, details relating totechnical material that is known in the technical fields related to theinvention have not been described in detail so as not to unnecessarilyobscure the present invention.

In the description and claims of the application, each of the words“comprise” “include” and “have”, and forms thereof, are not necessarilylimited to members in a list with which the words may be associated. Itshould be noted herein that any feature or component described inassociation with a specific embodiment may be used and implemented withany other embodiment unless clearly indicated otherwise.

As used herein, the indefinite articles “a” and “an” mean “at least one”or “one or more” unless the context clearly dictates otherwise.

As used herein, the term “cold laser wand” refers to a handheld devicethat emits light, and preferably one or more beams of coherentmonochromatic light by the stimulated emission of photons from excitedatoms, with wavelengths between 600 and 950 nanometers (nm).

As used herein, the term “hands-free manner” refers to the positioningand use of a cold laser device such that the preferred positioning ofthe device is maintained without requiring a person to hold the device.

While potentially therapeutically effective, existing cold laser systemswith handheld wands require a therapist or patient to hold the device ata particular range from the area of skin requiring treatment for manyminutes at a time. For example, the handheld wand may be required to beheld just above a treatment site for anywhere from 15 seconds to 1 hour.Therapists and patients find it difficult to hold the device in placefor such long periods of time. This problem is particularly exacerbatedin patients with severe pain or chronic neuropathy, in situations wherethe device needs to be proximate to the skin, but not touching the skindue to pain, and in situations where the patient is attempting toself-treat but the location of the pain is difficult to reach.

It is therefore desirable to have a system for transforming aconventionally handheld treatment method into a hands-free treatmentmethod. It is further desirable to have a way of securing a cold laserwand to any portion of the patient's body, thereby enabling hands-freetreatment in difficult to reach locations. It is further desirable tohave a securing system that can accommodate different size wands toenable a clinician to use different therapeutic modalities. It is alsodesirable to have a securing system that can adjust the distance of thewand head from the patient's skin to allow for a range of differentexposure distances and to better capture and direct light from a deviceto the patient's skin.

Referring to FIG. 1, a handheld wand and attachment system 100 areshown. The exemplary handheld wand 115 is shown comprising a body 120having a light generator incorporated therein or an optical lighttransmission system that receives light from an external light generatorand transmits it to the light emission surface 130. The light emissionsurface 130 is defined by a periphery 135 that circumscribes the lightemission surface 130 which has a plurality of light emitting diodes oroptical fiber emission points responsible for the actual emission oflight.

Separate from the wand 115 is a holder system comprising a lightemission surface receiver 110 connected, using a connection means 105,to an attachment surface 103. The light emission surface receiver 110may have a fixed circumference, size, or periphery configured tosecurely, and internally, receive the periphery 135 of the lightemission surface 130. The light emission surface receiver 110 comprisesa hollow cavity, defined by a peripheral wall 140. The internal surfaceof light emission surface receiver 110 may be securely attached to theexternal periphery 135 of the light emission surface 130 through afriction fit, snap fit, the mating of a groove with a protrusion,Velcro, snaps, or other connection mechanism, the components of whichmay be located on either the external periphery of the light emissionsurface 130 and/or the internal periphery of the light emission surfacereceiver 110.

Alternatively, the light emission surface receiver 110 may have anadjustable circumference, size, or periphery configured to be adjustedin order to adapt to the size of the periphery of the light emissionsurface 130 and thereby securely receive the periphery 135. Thecircumference, size or periphery may be adjusted by having a telescopingstructure that, when pulled upwards, releases smaller and smallerperipheries until the right size is achieved, as shown in FIG. 5 byelements 570. The circumference, size or periphery may be adjusted byhaving a rotatable portion, attached to the periphery of the lightemission receiver 110 that, when rotated, causes the periphery of thelight emission receiver 110 to decrease or increase in size, therebyenabling the size of the periphery to be adjusted.

In some embodiments, internal surface of the wall of receiver 110comprises a reflective material that is positioned to cause lightemitted from the light emission surface 130 and impinging on theinternal surface of the wall of receiver 110 to be directed toward thepatient's skin. In some embodiments, at least 5% of the internal surfaceof the wall comprises the reflective material. In some embodiments, atleast 50% of the internal surface of the wall comprises the reflectivematerial. In some embodiments, at least 95% of the internal surface ofthe wall comprises the reflective material. The internal surface of thewall may comprise reflective material on 1% to 99%, or any incrementtherein, of the surface area.

The light emission surface 130 and corresponding receiver 110 may adopta plurality of different shapes. FIGS. 2A to 2J illustrate multipleembodiments of wand 115 with light emission surfaces 130 of differentshapes and sizes, in accordance with the present specification.Additionally, FIGS. 3A to 3J illustrate top views of multipleembodiments of light emission receivers 110 of different shapes andsizes that geometrically, or shape-wise, correspond to the embodimentsillustrated in FIGS. 2A to 2J.

Referring simultaneously to FIGS. 2A and 3A, an exemplary handheld wand215 a is shown comprising a body 220 a having a light emission surface230 a. The light emission surface 230 a is defined by a periphery 235 athat circumscribes the light emission surface 230 a which has aplurality of light emitting diodes or optical fiber emission pointsresponsible for the actual emission of light. In this embodiment, wand215 a has an elongated cylindrical body 220 a for ease of holding andhandling. One end of the elongated cylindrical body comprises a lightgenerator incorporated therein or is attached to an optical lighttransmission system that receives light from an external light generatorand transmits it to light emission surface 230 a that is circular inshape. In embodiments light emission surface 230 a has a larger diameterthan that of the elongated cylindrical body of wand 215 a, such thatwand 215 a appears in the shape of a torch. Corresponding light emissionsurface receiver 310 a is circular with a circumferential shape thatmatches that of light emission surface 230 a but is slightly larger toreceive the light emission surface receiver 310 a.

In embodiments, light emission surface receiver 310 a is connected,using a connection means, to an attachment surface. The attachmentsurface may be used to attach holder comprising receiver 310 a thatfixedly holds light emission surface 230 a over a patient's skinsurface. The light emission surface receiver 310 a may have a fixedcircumference, size, or periphery configured to securely receive theperiphery 235 a of the light emission surface 230 a. Light emissionsurface receiver 310 a comprises a hollow cavity, defined by aperipheral wall. The internal surface of light emission surface receiver310 a may be securely attached to the external periphery of the lightemission surface 230 a through a friction fit, snap fit, the mating of agroove with a protrusion, Velcro, snaps, or other connection mechanism,the components of which may be located on either the external peripheryof the light emission surface 230 a or the internal periphery of lightemission surface receiver 310 a.

In some embodiments, in accordance with the present specification, wallof light emission surface receiver 110, 310 a, or any other exemplaryembodiment described herein, is configured to be porous in order toallow heat generated by light emitted from light emission surface 130(230 a, or any other similar light emission surface described herein) toescape. FIGS. 4A to 4D illustrates views of an exemplary embodiment of awall of light emission surface receiver 410 configured with spaces,voids, pores, or openings 440 that are spread evenly on the surface oflight emission surface receiver 410. In various embodiments, theopenings 440 may be of different shapes and sizes and may be configuredin different patterns as a single pore or multiple pores on the surfaceof wall of light emission surface receiver 410. FIG. 4A illustrates afront view of the exemplary embodiment of wall of light emission surfacereceiver 410 configured with spaces, voids, pores, or openings 440 thatare spread evenly on the surface of light emission surface receiver 410.

In another embodiment, illustrated in FIG. 4B, in order to capture anddirect light but still allow heat to escape, the light emission surfacereceiver 410 may comprise an internal wall 450 that is configured tophysically receive, and attach to, the light emission surface of thewand, as previously described above. The internal wall 450 may have thesame characteristics as described above with respect to the lightemission surface receiver, such as a telescoping structure and/orreflective surface on the interior surface of the internal wall. Theexternal surface of the internal wall 450 is attached to the interiorsurface of the external wall 410 at one or more points through one ormore linear members 460, as shown in the top view of FIG. 4C. In such anembodiment, the internal wall 450 functions as the light emissionsurface receiver 410 while the external wall 410 comprises openings 440that allow heat to escape.

Referring to FIG. 4D, to permit the flow of heat, preferably the lengthof the external wall 410, measured as the distance from the base of theexternal wall 410 (which attaches to the patient attachment surface) tothe top of the external wall 410 (which is proximate the light emissionsurface of the wand) and referred to as d1, is greater than thecorresponding length of the internal wall 450, referred to as d2.Generated heat flows out from within the cavity defined by the interiorsurface of the internal wall 450, patient skin, and light emissionsurface, into the cavity defined by the exterior surface of the internalwall 450, interior surface of the external wall 410 and patient skin,and out through the openings 460 or the space between the top of theexternal wall 410 and wand and/or internal wall 450. It should beappreciated that the embodiments depicted in FIGS. 4A to 4D may be usedwith any of the wand configurations shown in FIGS. 2A to 2J andcorresponding FIGS. 3A to 3J.

Referring simultaneously to FIGS. 2B and 3B, an exemplary handheld wand215 b is shown comprising a body 220 b having a light emission surface230 b. The light emission surface 230 b is defined by a periphery 235 bthat circumscribes light emission surface 230 b which has a plurality oflight emitting diodes or optical fiber emission points 240 b responsiblefor the actual emission of light. In this embodiment, wand 215 b has anelongated oval body 220 b for ease of holding and handling. One end ofthe elongated cylindrical body comprises a light generator incorporatedtherein or is in optical communication with an optical lighttransmission system that receives light from an external light generatorand transmits it to light emission surface 230 b that is circular inshape. In embodiments, light emission surface 230 b has a diameter thatlies within the oval-shaped edge of body of wand 215 b. In embodiments,body 220 b comprises a smooth pyramidal protrusion 245 b that extends ona portion of it surface between one end of body 220 b comprising lightemission surface 230 b and the other end. Protrusion 245 b may beconfigured to support and stabilize position on wand 215 b when it isplaced over a holder, by allowing protrusion 245 b to rest over thepatient's skin surface or over an attachment surface in order tomaintain light emission surface 230 b in a parallel orientation to thepatient's skin surface. Further, wand 215 b comprises a correspondinglight emission surface receiver 310 b that is circular with acircumference to match that of light emission surface 230 b.

In embodiments, light emission surface receiver 310 b is connected,using a connection means, to an attachment surface. The attachmentsurface may be used to attach holder that fixedly holds light emissionsurface 230 a over a patient's skin surface. The light emission surfacereceiver 310 b may have a fixed circumference, size, or peripheryconfigured to securely receive the periphery 235 b of the light emissionsurface 230 b. Light emission surface receiver 310 b comprises a hollowcavity, defined by a peripheral wall. The internal surface of lightemission surface receiver 310 b may be securely attached to the externalperiphery of the light emission surface 230 b through a friction fit,snap fit, the mating of a groove with a protrusion, Velcro, snaps, orother connection mechanism, the components of which may be located oneither the external periphery of the light emission surface 230 b or theinternal periphery of light emission surface receiver 310 b.

Referring simultaneously to FIGS. 2C and 3C, an exemplary handheld wand215 c is shown comprising a body 220 c having a light emission surface230 c. The light emission surface 230 c is defined by a thick periphery235 c that circumscribes light emission surface 230 c which has aplurality of light emitting diodes or optical fiber emission points 240c responsible for the actual emission of light. The wand 215 c isattached, via cable 275 c, to a light generator. In this embodiment, thelight emission surface 230 c is inset or indented relative to the thickperiphery 235 c wand 215 c. Accordingly, to attach to the light emissionsurface 230 c, the light emission surface receiver 310 c may beconfigured to fit within periphery 235 c, such that the internal surfaceof periphery 235 c circumscribes or surrounds the external surface ofthe light emission receivers 310 c.

Light emission surface receiver 310 c is connected, using a connectionmeans, to an attachment surface. The attachment surface may be used toattach holder that fixedly holds light emission surface 230 c over apatient's skin surface. The light emission surface receiver 310 c mayhave a fixed circumference, size, or periphery configured to securelyreceive the periphery 235 c of the light emission surface 230 c. Lightemission surface receiver 310 c comprises a hollow cavity, defined by aperipheral wall. The external surface of light emission surface receiver310 c may be securely attached to the internal periphery of the lightemission surface periphery 235 c through a friction fit, snap fit, themating of a groove with a protrusion, Velcro, snaps, or other connectionmechanism, the components of which may be located on either the externalperiphery of the light emission surface receiver 310 c or the internalsurface of the periphery of light emission surface 235 c.

In the various embodiments of the present specification, internalsurfaces of the light emission surface receiver may be covered by areflective material in areas other than the light emitting diodes oroptical fiber emission points. The reflective surface is useful toreflect the light and therefore optimize its effect on a target.

Referring simultaneously to FIGS. 2D and 3D, an exemplary handheld wand215 d is shown comprising a body 220 d having a light emission surface230 d and a conical periphery 235 d that circumscribes light emissionsurface 230 d. Button 280 d may be toggled to turn on and off the light.In this embodiment, wand 215 d has an elongated narrow cylindrical body220 d for ease of holding and handling. As in the prior embodiments, theelongated body 220 d comprises a light generator incorporated therein oris in electrical communication with an optical light transmission systemthat receives light from an external light generator and transmits it tolight emission surface 230 d. Further, wand 215 d comprises acorresponding light emission surface receiver 310 d that is circularwith a circumference to match that of light emission surface 230 d. Inone embodiment the light emission surface receiver 310 d may beconically configured to receive the light emission surface, where thenarrow circumferential portion of the conical light emission surfacereceiver is closer to the patient and the wider circumferential portionof the conical light emission surface receiver is closer to the handheldwand. Grooves 248 d on the exterior surface of the periphery 235 d lightemission surface 230 d are configured to mate with protrusions 358 dpositioned internal to the light emission surface receiver 310 d,thereby securing the light emission surface 230 d to the light emissionsurface receiver 310 d. It should be appreciated that the grooves couldbe positioned within the internal surface of the light emission surfacereceiver 310 d and the protrusions could be positioned on the externalsurface of the periphery 235 d. All other features described withrespect to other embodiments may equally apply to this geometricconfiguration.

Referring simultaneously to FIGS. 2E and 3E, an exemplary handheld wand215 e is shown comprising a body 220 e having a light emission surface230 e. The light emission surface 230 e is defined by a periphery 235 ethat circumscribes light emission surface 230 e and extends around andahead of light emission surface 230 e such that the light emissionsurface 230 e in indented or inset into the wand 215 e. Buttons 280 emay be toggled to turn the light on and off, set a time for treatment,or set a preferred light amplitude or intensity. Light emission surface230 e has a plurality of light emitting diodes or optical fiber emissionpoints responsible for the actual emission of light. One end of body 220e comprises a light generator incorporated therein or is in opticalcommunication with an optical light transmission system that receiveslight from an external light generator and transmits it to lightemission surface 230 d.

In embodiments, light emission surface 230 e is positioned at a flatedge of cylindrical body 220 e and has a diameter that is less than adiameter of the flat circular end of elongated cylindrical body of wand215 e. Further, wand 215 c comprises a corresponding light emissionsurface receiver 310 c that is circular with a circumference to matchthat of light emission surface 230 c such that it may either frictionfit around or within external periphery 235 e. All other featuresdescribed with respect to other embodiments may equally apply to thisgeometric configuration.

Referring simultaneously to FIGS. 2F and 3F, an exemplary handheld wand215 f is shown having a light emission surface 230 f. The light emissionsurface 230 f is defined by a peripheral wall 235 f that circumscribeslight emission surface 230 f which has a plurality of light emittingdiodes or optical fiber emission points 240 f responsible for the actualemission of light. In this embodiment, wand 215 f has multiple portionsattached to each other. A cylindrical body 220 f has two ends—a distalend 221 f and a proximal end 222 f, which are respectively distal andproximal to light emission surface 230 f. In some embodiments, each end221 f and 222 f has a conical structure with a side connected to body220 f having a larger diameter compared to the other side away from body220 f having a relatively smaller diameter. In embodiments, the sidewith the larger diameter has a circumference equal to cylindrical body220 f. The side with smaller diameter of end 221 f may be connectedfurther to a cable encompassing electrical and/or optical componentsthat enable lighting of points 240 f. The side with small diameter ofend 222 f may be connected to a circular surface of another cylindricalstructure 242 f One end of structure 242 f may be attached to anothercylindrical structure 235 f of a diameter that is relatively larger thanthat of structure 242 f, where structure 235 f forms periphery to lightemission surface 230 f The corresponding light emission surface receiver310 f is circular with a circumference to match that of light emissionsurface 230 f. All other features described with respect to otherembodiments may equally apply to this geometric configuration.

Referring simultaneously to FIGS. 2G and 3G, an exemplary handheld wand215 g is shown comprising a body 220 g having a light emission surface230 g. The light emission surface 230 g is defined by a periphery 235 gthat circumscribes light emission surface 230 g which has one or morelight emitting diodes or optical fiber emission points responsible forthe actual emission of light. In this embodiment, wand 215 g comprises acylindrical body 220 g. A distal end of the cylindrical body 221 g isconnected to a cable that may comprise electrical and/or opticalcomponents to power emission of light from light emission surface 230 g.A proximal end of the cylindrical body 220 g is connected to anothercylindrical structure 231 g extending in the longitudinal direction ofbody 220 g and having a smaller diameter than cylindrical body 220 g. Afurther conical structure 232 g may extend from a proximal portion ofstructure 231 g. The conical structure may reduce in diameter from itsdistal end connected to structure 231 g towards its proximal end, wherethe proximal end is further connected to another cylindrical structure233 g extending in the longitudinal direction of body 220 g and having adiameter lesser that the smaller proximal end of conical structure 232g. Proximal end of the cylindrical structure 233 g narrows further intoa conical shape 234 g that has a proximal end comprising light emissionsurface 230 g. Therefore, the proximal end of body 220 g comprises aplurality of conical portions that decrease in width as it reaches itslight emission surface 230 g. In some embodiments, a combination ofstructures 233 g and 234 g form the periphery 235 g for light emissionsurface 230 h. Light emission surface receiver 310 g comprises a conicalcircumference configured to compliment the shape of conical portions 234g, 233 g, 232 g, and/or 231 g to thereby permit the receiving of, andattachment to, the light emission surface. All other features describedwith respect to other embodiments may equally apply to this geometricconfiguration.

Referring simultaneously to FIGS. 2H and 3H, an exemplary handheld wand215 h is shown comprising a body 220 h similar to body 220 g of FIG. 2G.The embodiment illustrated in FIG. 2H is similar to the embodiment ofFIG. 2G, except that FIG. 2H illustrates a wand that does not includeproximal structures 233 g and 234 g at a proximal end of structure 232 hsimilar to structure 232 g. Light emission surface 230 h is positionedwithin the proximal end of structure 232 h. Therefore, a combination ofstructures 232 h and 231 h form a periphery 235 h for light emissionsurface 230 h. The corresponding light emission surface receiver 310 his circular or conical with an internal periphery to match that of theexternal periphery of the light emission surface 230 h. All otherfeatures described with respect to other embodiments may equally applyto this geometric configuration.

Referring simultaneously to FIGS. 2I, 3I, 2J and 3J, an exemplaryhandheld wand 215 i, 215 j is shown comprising a body 220 i, 220 j, arectangular 235 i or oval 235 j periphery of a light emission surface,and a light emission surface that is rectangular 230 i or comprising aplurality of protruding emission structures 235 j. The correspondinglight emission surface receiver is rectangular 310 i or oval/conical 310j with an internal periphery to match that of the external periphery ofthe light emission surfaces 230 i, 230 j. All other features describedwith respect to other embodiments may equally apply to this geometricconfiguration.

Referring now to FIG. 5, a light emission surface 530 may be positionedat different distances from the patient's skin 560 by modifying thetelescopic structure 570 of the light emission receiver 510. While thefigures illustrate an embodiment of a light emitting and receivingsystem similar to that illustrated in FIG. 1, the positions of all theother embodiments described herein may be varied similarly. Wand 520having a light emission surface 530 surrounded by a peripheral wall 535is inserted into light emission receiver 510 that is attached to apatient attachment surface 503 at attachment or connection points 505.The periphery wall of light emission surface receiver 510 may have anadjustable circumference, size, or periphery configured to be adjustedin order to adapt to the distance of the periphery of light emissionsurface 530 and thereby securely receive the periphery 535. Thecircumference, size or periphery of receiver 510 may be adjusted byhaving a telescoping structure that, when pulled upwards, releasessmaller and smaller peripheries until the right size and the rightdistance is achieved. The circumference, size or periphery of receiver510 may be adjusted by having a rotatable portion, attached to theperiphery of the light emission receiver 110 that, when rotated, causesthe periphery of the light emission receiver 110 to move up or down,thereby enabling the distance of patient's skin surface from periphery535 to be adjusted.

In embodiments, light emission surface receiver 510 may be fixedly orremovably attached to a patient attachment surface 503. The patientattachment surface 503 may comprise Lycra, spandex, plastic, straps,brace, sleeve, or any flexible material that may be contoured tosecurely and comfortably attach to a patient. Light emission surfacereceiver 510 may be attached to patient attachment surface 503 using anyconnection mechanism, including sewing, gluing, Velcro, snaps, zippers,a friction fit, or the mating of a groove with a protrusion, thecomponents of which may be located on either patient attachment surface503 or light emission surface receiver 510.

FIGS. 6A and 6B illustrate embodiments of different support structuresto position a body 620 of a wand parallel to, and above, a patient'sskin surface, in accordance with some embodiments of the presentspecification. While the figures illustrate two types of supportstructures 650 and 660, other types of support structures that can holdup body 620 of the wand and keep it parallel to the attachment surface,are possible. Support structures 650 and 660 may be adjustable,rotatable, or otherwise movable so that the body of the wand can be heldup and kept parallel to the attachment surface, thereby making surelight emission surface 630 does not tilt when inserted into, and leftwithin, the light emission surface receiver 610. Therefore, in someembodiments, wand body support structure 650/660 is attached to at leastone of light emission surface receiver 610 or the patient attachmentsurface 603 through a hinge mechanism that allows rotation of thesupport structure 650/660 around the hinge joint.

Referring to FIG. 6A, wand body support structure 650 connected to aninner surface of body 620 of a wand extends and stands perpendicularlyon either a patient attachment surface 603, or directly on a patient'sskin surface. Preferably, the wand body support structure 650 has afirst end and an opposing second end. The wand body support structure650, attached at the first end to the patient attachment structure 603,may rotate from a position that is substantially parallel, andpositioned against, the patient attachment structure 603 to a positionthat is substantially perpendicular to the patient attachment structure603. The wand body support structure 650 may also have a wand bodyreceiver 670, attached to the second end, that is padded, flat, orindented, concave or otherwise curved to receive the body of the wand620. Length adjustment mechanism 680, which may comprise a turn dialthat causes a pair of telescoping members to move relative to eachother, may be used to adjust the height of the wand body supportstructure 650.

FIG. 6B illustrates another embodiment of a wand body support structure660 that extends from an inner surface of body 620 of the wand to anouter surface of light emission surface receiver 610, such that support660 is positioned diagonally between the wand and patient surface orpatient attachment surface. The wand body support structure 660 has afirst end and an opposing second end. The wand body support structure660, attached at the first end to the light emission surface receiver610, may rotate from a position that is substantially parallel, andpositioned against, the patient attachment structure 603 to a positionthat is substantially diagonal to the patient attachment structure 603.The wand body support structure 660 may also have a wand body receiver670, attached to the second end, that is padded, flat, or indented,concave or otherwise curved to receive the body of the wand 620. Lengthadjustment mechanism 680, which may comprise a turn dial that causes apair of telescoping members to move relative to each other, may be usedto adjust the length of the wand body support structure 660.

FIG. 7 is a flow chart illustrating an exemplary method of using asystem in accordance with the various embodiments of the presentspecification. Referring simultaneously to FIGS. 1 and 7, at step 702, ahandheld cold laser wand 100 is acquired by a patient, a physician, orany caretaker attending to the patient. At step 704, optionally, a lightemission surface receiver 110 is attached to an attachment surface 103.If at step 704 attachment surface 103 is used, then at step 706,attachment surface 103 is attached to the patient. Alternatively, lightemission surface receiver 110 is placed on the patient's skin surfacewhere the treatment in accordance with the present specification, isrequired. At step 708, light emission surface 130 is attached to lightemission surface receiver 110. A periphery of light emission surfacereceiver 110 may be adjusted if necessary to enable a secure attachmentbetween the light emission surface and the receiver and/or to providefor the right distance from the patient's skin to the light emissionsurface. At step 710, the wand body support member is manipulated toposition it to support the body 102 of the wand such that light emissionsurface 130 is parallel to the surface of the patient's skin. Examplesof support structures are illustrated and described in context of FIGS.6A and 6B. At step 712, light emission surface receiver 110 may befurther adjusted to position the light emission surface at a predefineddistance from the patient's skin. The distance may be adjusted by theuser by pulling the wand 100 towards or away from the patient's skinsurface or by adjusting the support structure, if provided, between body120 of the wand 100 and light emission surface receiver 110 to therebyachieve a distance of 0.1 mm to 5 cm. Preferably distance measurementmarks are provided on the external surface of the light emissionreceiver surface or wand body support structure to provide a user withguidance on the actual distance between the light emission surface andthe patient's skin.

Referring to FIG. 8, certain patients may be unable to physicallytolerate the feeling or sensation of particular materials, therebylimiting the efficacy of a patient attachment device 803. Accordingly,in one embodiment, the bottom surface 804 of the patient attachmentdevice 803 comprises a plurality of attachment surfaces 882 a thatcomprise connectors, such as Velcro, snaps, pockets, grooves,protrusions or other connection mechanisms. Different materials 885 maythen be attached using complementary connectors 882 b, such as Velcro,snaps, pockets, grooves, protrusions or other connection mechanisms,depending on what materials are tolerable to the patient. For example,certain patients may only tolerate a silk-based material 885 whileothers may only tolerate a cotton, wool, velvet, or low durometerpolymer (less than shore 40a) material 885. It should be appreciatedthat, in such a situation, the patient attachment surface 803 may beelevated due to the insertion or inclusion of differential materialshaving varied thicknesses 885. In such a situation, the light emissionsurface receiver 810 may be inset relative to the patient attachmentdevice 803, thereby being closer to the patient's skin (althoughpreferably not touching the patient's skin) relative to the planedefined by the bottom surface of the patient attachment device 803. Inone embodiment, the light emission surface receiver 810 may be movedperpendicular to the plane defined by the patient attachment surface 803to thereby insure the light emitted is sufficiently close to thepatient's skin but not too close to be painful to the patient.

FIG. 9 illustrates another approach to the hands-free administration ofcold laser therapy, particularly where multiple anatomical sites need tobe illuminated during a treatment session. A robotic arm 968 controlsthe positioning of a light emitting device 962, in accordance with someembodiments of the present specification. Device 962 is held by arm 968,in place of holding it by hand, where arm 968 may also control itsposition such that device 962 is either fixed or moved in a designatedpattern over anatomical locations of a patient 960. In some embodiments,device 962 is a light array, equivalent to the above described lightemitting surfaces, that is activated, deactivated, and otherwisecontrolled based upon instructions from a controller 970 that connectsthrough a wire or wirelessly to device 962. Controller 970 may beprogrammed by providing a visual display of a human body and selectingareas on the body where pain exists. A camera 963, or mobile phonecomprising a camera, may be attached to the arm 968 or device 962 to aidin identifying locations where pain exists in a patient's body and toobtain a visual of the patient's anatomy before and/or during treatment.FIG. 10 illustrates an exemplary visual display 1072 that generates datafor a program executing by or within controller 970 to control thepositioning of device 962 so as to emit light on the areas that areexperiencing pain. The exemplary visual displays a colored mark 1074indicting pain in the thigh area of the patient in a top view and a sideview of anatomy of a patient.

In some embodiments, robotic arm 968 comprises multiple components suchas support members 964 that are hinged at one or more locations 966 tocontrol the movement and position of device 962. Once the pain locationsare selected, controller 970 translates the selected location of thepain into a plurality of arm 968 positions based on one or moreparameters. For example, the selected location of the pain is translatedinto a plurality of arm 968 positions based on the location ofassociated nerves, tissues, or other organs that have to be irradiatedwith light to treat the identified loci of pain.

In some cases, location of the associated nerves, tissues, or otherorgans may be different from the locations identified in visual display1072 over the patient's anatomy. In one example, the patientexperiencing pain in the thigh may need light therapy in accordance withthe present specification, over the lower back. In this example, thevisual display and the patient indicate that the pain exists in thethigh. Controller 970 may translate this information to plurality of arm968 positions that irradiate light over the lower back. A database,table, or memory structure is preferably stored in the controller orremotely accessible by the controller and comprises a plurality oftranslation data, wherein a selection of a particular anatomicallocation as having pain, tingling, numb, or other undesired sensationmay be translated into a plurality of different anatomical locationsrequiring illumination by the light emitting device.

Referring to FIG. 11, in one embodiment, the present invention isdirected to a method of treating pain by calibrating a robotic arm,wherein the calibration occurs by attaching a camera, or mobile phone,to a portion of the arm (preferably to the same portion of the arm towhich the light array will eventually be attached), having thecontroller move the arm, and therefore the camera, over the entirety ofthe patient's body (as the patient lays horizontally, preferably) 1102and having the controller associate discernable anatomical landmarks(such as shoulders, hands, legs, feet, armpits, head) with pixel valuesand, in turn, with three dimensional location information, such asaccelerometer, magnetometer, and/or gyroscope data that is associatedwith the captured pixel information 1104. It should be appreciated thatthe accelerometer, magnetometer, or gyroscope data may be read from thetablet computer or from a set of sensors that may be positioned at thedistal end of the robotic arm. Accordingly, controller 970 translatesthe selected location of the pain into a plurality of arm 968 positionsbased on a calibration of arm 968 relative to the patient body so thatit knows where it is relative to a target tissue. Camera 963 maytherefore obtain a visual of the entire body while it associatesspecific pixels or visual landmarks with particular positions on thepatient's body and particular internal accelerometer, gyroscope and/ormagnetometer data. Once a particular portion of the anatomical displayis selected (to identify loci of pain), controller 970 is able toposition arm 968 over the associated physical position and assumes thatposition in order to expose the loci to light emitting from device 962.

Once the patient's body has been scanned, associated with pixel and 3dimensional positioning information, the mobile phone or tablet devicemay be removed from the arm and the light emitting device may be put inits place. The controller, via an integrated display or a remotelyconnected display on a tablet or phone, will extract a silhouette orsome other abstraction of the patient's body (from the captured images)and display it 1106. The patient or physician will then select areas ofthe body which are in pain and the controller will therefore receive aselection of pixels as being indicative of loci of pain 1108. Thecontroller is configured to translate the identified pixels intoanatomical locations, based on the calibration and prior mapping, andfurther configured to translate those first identified anatomicallocations into a second set of anatomical locations, different from thefirst, based on a translation step as described above 1110. With theselected first set of identified anatomical locations and the translatedsecond set of identified anatomical locations established, a full listof associated pixel locations are determined 1112 and the associatedthree dimensional configurations of the robotic arm are determined 1114.The system is then initiated to move the arm based on the determinedthree dimensional configurations 1116.

Controller 970 may be further configured to move the arm in accordancewith a predefined set of time periods, based on a required time forirradiation for a given anatomical location. In some cases, the requiredtime for irradiation may be 5 seconds, while at another location thetime required may be 10 seconds. Controller 970 may adjust the time ofirradiation at each position of arm 968, based on the anatomicallocation to be illuminated. For example, arm 968 is controlled bycontroller 970 to move device 962 over different pain locations andirradiate light for similar or different times at each location.

In yet another example, controller 970 translates the selected locationof the pain into a plurality of arm 968 positions based on a preferredsequence for irradiating multiple locations over the anatomy of thepatient in order to treat pain in a minimal amount of time. For example,suppose patient has identified 3 areas of pain on his back. Thecontroller has translated those three areas of pain into a plurality ofanatomical locations requiring illumination, resulting in a total of sixareas requiring illumination. The controller then executes a pluralityof programmatic instructions to determine the optimum illuminationprocess for delivering a requisite therapeutic dose to the six areas.Such a determination comprises: a) determining a time range forilluminating each of the target locations, b) grouping the targetlocations based on their proximity to each other (i.e. if two areas arewithin a predefined distance, such as the width or length of the lightemission device, they are grouped together as a single illuminationpoint) and based on each of their determined time ranges (if two areasrequire different illumination times, they may be treated as differentillumination points), and c) determining a sequence of illuminating eachof the determined illumination points, which is preferably done seriallyin one direction along a length of the patient or done based on anymedical requirement for one anatomical location to be illuminated priorto, or after, another anatomical location.

In another example, controller 970 translates the selected location ofthe pain into a plurality of arm 968 positions based on an optimal anglefrom which the light emitted on a patient's vertical or horizontal bodywould provide suitable treatment. In one example, a patient experiencingpain on a side of quadriceps muscle of the thigh could lie flat on atable while the controller 970 positions arm 968 at an angle such thatdevice 962 is parallel to a side surface of the thigh.

In some embodiments, device 962 comprises an array of lights where eachlight, or subset of lights, in the array may be separately controlled bycontroller 970 to emit for different times or in a sequence, based on anidentified position and loci of pain. This may be particularly importantwhere the light emission device has an area sufficient to cover multipleanatomical locations but where each of those anatomical locationsrequire different illumination times, such as anatomical location 1requiring a longer period of illumination than anatomical location 2. Insuch a situation, the lights (a first subset of the light array in thelight emission device) positioned over anatomical location 2 may beturned off after a first period while the lights (a second subset of thelight array in the light emission device) positioned over anatomicallocation 1 may be kept on for the entirety of a second period.

While the exemplary embodiments of the present invention are describedand illustrated herein, it will be appreciated that they are merelyillustrative. It will be understood by those skilled in the art thatvarious changes in form and detail may be made therein without departingfrom or offending the spirit and scope of the invention.

We claim:
 1. A method of treating peripheral neuropathic pain of apatient using an automated photobiomodulation delivery systemcomprising: providing the photobiomodulation delivery system, whereinthe photobiomodulation delivery system comprises: a light emittingdevice; a robotic member attached to the light emitting device; a visualdisplay configured to acquire and display a depiction of the patient'sanatomy, wherein the visual display is further configured to receive anindication of the patient's anatomy to be treated and generate datarepresentative of said anatomy to be treated; and a controllerconfigured to receive the data representative of the anatomy to betreated and, based on the data, control a positioning of the lightemitting device using the robotic member; receiving the indication ofthe patient's anatomy to be treated via the visual display; andpositioning the light emitting device to deliver light to the patient'sanatomy to be treated by moving the robotic member using the controllerbased on the indication of the patient's anatomy to be treated.
 2. Themethod of claim 1, wherein the controller is configured to translatedata representative of the anatomy to be treated into a plurality ofpositions of the robotic member.
 3. The method of claim 2, furthercomprising a data structure having a plurality of translation data,wherein the controller is configured to translate data representative ofthe anatomy to be treated into the plurality of positions of the roboticmember using the plurality of translation data.
 4. The method of claim1, wherein the controller is configured to translate data representativeof the anatomy to be treated into a plurality of positions of therobotic member and wherein the plurality of positions of the roboticmember would result in the irradiation of nerves or tissues associatedwith locations of the anatomy to be treated.
 5. The method of claim 4,wherein locations of said nerves or tissues are different from thelocations of the anatomy to be treated.
 6. The method of claim 1,further comprising calibrating the robotic member.
 7. The method ofclaim 6, wherein calibrating the robotic member comprises moving thevisual display over the patient's entire body and causing the controllerto associate discernable anatomical landmarks with three dimensionallocation information.
 8. The method of claim 7, wherein the anatomicallandmarks comprise at least one of the patient's shoulders, hands, legs,feet, armpits, or head.
 9. The method of claim 7, wherein the threedimensional location information is derived from at least one of anaccelerometer sensor, a magnetometer sensor, or a gyroscope sensor. 10.The method of claim 9, wherein the accelerometer sensor, themagnetometer sensor, or the gyroscope sensor is positioned on a distalend of the robotic member.
 11. The method of claim 7, wherein theanatomical landmarks are associated with pixels.
 12. The method of claim1, further comprising associating specific visual landmarks withparticular positions on the patient's body and associated accelerometer,gyroscope, or magnetometer data.
 13. The method of claim 1, wherein thecontroller is configured to move the robotic member in accordance with apredefined set of time periods.
 14. The method of claim 1, wherein thecontroller is further configured to determine a sequence of illuminatinga series of anatomical locations based on the anatomy of the patient.15. The method of claim 1, wherein the controller is further configuredto determine a time range for illuminating each location of thepatient's anatomy to be treated.
 16. The method of claim 1, wherein thecontroller is further configured to group areas of the patient's anatomyto be treated based on their proximity to each other.
 17. The method ofclaim 1, wherein the controller is further configured to determine asequence of illuminating each location of the patient's anatomy to betreated based on a medical requirement for one anatomical location to beilluminated prior to, or after, another anatomical location.
 18. Themethod of claim 1, wherein the controller is further configured todetermine an optimal angle to emit light on the patient's anatomy to betreated.
 19. The method of claim 1, wherein the light emitting devicecomprises a plurality of lights wherein each light in the plurality oflights is configured to be separately controlled by the controller. 20.The method of claim 19, wherein the controller is configured to activatea subset of the plurality of lights.